Robotically-driven surgical assembly

• US 10,383,633 B2
• Filed: 04/28/2016
• Issued: 08/20/2019
• Est. Priority Date: 05/27/2011
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Setser, Michael E., Doll, Kevin R., Morgan, Jerome R.
• Primary Examiner(s): Lopez, Michelle
• Application Number:
  US15/141,469
• Publication Number:
  US 20160242781A1
• Time in Patent Office: 1,209 Days
• Field of Search: 2271751
• CPC Class Codes: A61B 17/064 Surgical staples, i.e. penetrating the tissue
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00473 Distal part, e.g. tip or head A61B2017/00464 takes precedence
• CPC Class Codes: A61B 2017/00734 battery operated
• CPC Class Codes: A61B 2017/0688 Packages or dispensers for surgical staplers
• CPC Class Codes: A61B 2017/07257 characterised by its anvil
• CPC Class Codes: A61B 2017/07271 characterised by its cartridge
• CPC Class Codes: A61B 2017/07278 characterised by its sled or its staple holder
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2923 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments
• CPC Class Codes: A61B 2017/320093 : additional movable means performing cutting operation
• CPC Class Codes: A61B 2017/320094 : additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 : with sealing or cauterizing means
• CPC Class Codes: A61B 2017/320097 : with stapling means
• CPC Class Codes: A61B 2018/00607 : Coagulation and cutting with the same instrument
• CPC Class Codes: A61B 2018/0063 : Sealing
• CPC Class Codes: A61B 2034/302 : specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 50/20 : Holders specially adapted for surgical or diagnostic appliances or instruments drapes with means to hold surgical instruments A61B46/23; for catheters A61M25/02
• CPC Class Codes: A61B 50/36 : for collecting or disposing of used articles

Abstract

A surgical assembly is disclosed. The surgical assembly comprises a carrier member configured to support a staple cartridge, an anvil pivotably connected to the carrier member, an elongate shaft assembly connected to the carrier member, and a housing coupled to the elongate shaft assembly. The housing comprises at least four disks configured to be rotated by a robotic device, wherein a first one of the at least four disks is configured to actuate an articulation of the carrier member, a second one of the at least four disks is configured to actuate a rotation of the carrier member, a third one of the at least four disks is configured to actuate a clamping motion, and a fourth one of the at least four disks is configured to actuate a staple firing motion.

Claims

1. A surgical assembly, comprising:

a carrier member configured to support a staple cartridge;

an anvil pivotably connected to the carrier member;

an elongate shaft assembly connected to the carrier member; and

a housing coupled to the elongate shaft assembly, wherein the housing comprises at least four disks configured to be rotated by a robotic device, and wherein;

a first one of the at least four disks is configured to actuate an articulation of the carrier member;

a second one of the at least four disks is configured to actuate a rotation of the carrier member;

a third one of the at least four disks is configured to actuate a clamping motion; and

a fourth one of the at least four disks is configured to actuate a staple firing motion.

2. The surgical assembly of claim 1, further comprising the staple cartridge.

3. The surgical assembly of claim 2, wherein the staple cartridge comprises a replaceable staple cartridge.

4. The surgical assembly of claim 2, wherein the staple cartridge comprises:

a body comprising a proximal end and a distal end; and

a sled movable from the proximal end toward the distal end during the firing motion.

5. The surgical assembly of claim 4, wherein the sled is left behind in the distal end of the body of the staple cartridge after the firing motion is completed.

6. The surgical assembly of claim 5, wherein the firing motion is also a tissue cutting motion.

7. The surgical assembly of claim 1, wherein the elongate shaft assembly comprises:

a first articulation joint drivable by the first disk; and

a second articulation joint drivable by the first disk.

8. The surgical assembly of claim 1, wherein the clamping motion comprises movement of the anvil relative to the carrier member.

9. The surgical assembly of claim 1, wherein the firing motion is also a tissue cutting motion.

10. A surgical assembly, comprising:

a staple cartridge comprising staples removably stored therein;

an end effector configured to support the staple cartridge;

an elongate shaft assembly; and

a housing coupled to the elongate shaft assembly, wherein the housing comprises a plurality of rotatable disks configured to be driven by a robotic surgical device, wherein;

a first said rotatable disk is configured to actuate an articulation of the end effector;

a second said rotatable disk is configured to actuate a rotation of the end effector;

a third said rotatable disk is configured to actuate a clamping motion of the end effector; and

a fourth said rotatable disk is configured to actuate a firing motion which ejects the staples from the staple cartridge.

11. The surgical assembly of claim 10, wherein the staple cartridge comprises a replaceable staple cartridge.

12. The surgical assembly of claim 10, wherein the elongate shaft assembly comprises:

a first articulation joint drivable by the first disk; and

a second articulation joint drivable by the first disk.

13. The surgical assembly of claim 10, wherein the staple cartridge comprises:

a body comprising a proximal end and a distal end; and

a sled movable from the proximal end toward the distal end during the firing motion.

14. The surgical assembly of claim 13, wherein the sled is left behind in the distal end of the body of the staple cartridge after the firing motion is completed.

15. The surgical assembly of claim 14, wherein the firing motion is also a tissue cutting motion.

16. The surgical assembly of claim 10, wherein the firing motion is also a tissue cutting motion.